ResearchBenchmarks2D Navigation on Randomly generated 2D scenes (Density 0.6, 5x5m)Follow1.02Length ScaleDDR-OPT1.00921.08211.1551.2279Apr 26, 2026Evaluation ResultsMethodMethodLinksLength ScaleCompleteness RateCollision-Free RateDDR-OPTRobot Model=Two-disc r...Robot Model=Two-disc robot model2026.041.02100100FASTER2026.041.03100100Ours2026.041.03100100FRTree2026.041.29100100